Trackless positioning navigation method and device
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A technology of positioning, navigation and heading, applied in the field of autonomous motion control of robots
Active Publication Date: 2014-03-26
STATE GRID CORP OF CHINA +7
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Although this method is reliable and accurate, and the robot can also move on all terrains such as grass, but this method needs to set up reflective markers, and the global position of the reflective markers needs to be known in advance, the error of the global position of the...
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Embodiment 1
[0052] figure 1 It is a flow chart of a trackless positioning and navigation method provided in Embodiment 1 of the present application.
[0053] like figure 1 As shown, the method includes:
[0054] S101. Measure the distance moved by the robot along the heading direction and the heading change rate on the horizontal plane between adjacent time points t-1 and t.
[0055]In the embodiment of this application, the odometer is used to measure the distance that the robot has moved in the heading direction between adjacent time points t-1 and t, and the heading of the robot on the horizontal plane is measured by an IMU (Inertial Measurement Unit) rate of change.
[0056] S102. Calculate a predicted position value of the robot at time t according to the distance, the heading change rate, and a preset dead reckoning formula.
[0057] In this embodiment of the application, the distance that the robot has moved along the heading direction between the adjacent time points t-1 and t...
Embodiment 2
[0088] Figure 5 It is a schematic structural diagram of a trackless positioning and navigation device provided in Embodiment 2 of the present application.
[0089] like Figure 5 As shown, the device includes: a measurement unit 1, a position prediction unit 2, a local feature information extraction unit 3, a global feature map generation unit 4, a position estimation unit 5, and a topology map generation unit 6, wherein,
[0090] The measuring unit 1 is used to measure the distance moved by the robot along the heading direction and the heading change rate on the horizontal plane between adjacent time points t−1 and t.
[0091] The position prediction unit 2 is connected with the measurement unit 1 and is used to calculate the predicted position value of the robot at time t according to the distance, the heading change rate and a preset dead reckoning formula.
[0092] The local feature information extraction unit 3 is used to extract local feature information in the laser da...
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Abstract
The invention provides a trackless positioning navigation method and device. According to the method, the moving distance of a robot in a moving direction between adjacent time points (t-1) and t and the turning rate of the robot on a horizontal plane are measured, a position predication value of the robot is calculated through a preset dead reckoning equation and the measured moving distance and turning rate, local feature information in laser data obtained by measurement of a laser sensor is extracted and fused into a unified global feature map by the SLAM (Simultaneous Localization And Mapping) technology, and the processes of estimating the position of the robot and generating a topological graph are achieved, so that the positioning navigation stability and reliability are improved on the basis of reducing the cost and the operation and maintenance expenses, and the moving needs of the robot in a natural environment are met.
Description
technical field [0001] The present application relates to the technical field of robot autonomous motion control, in particular to a trackless positioning and navigation method and device. Background technique [0002] After several years of development and promotion, the technical solution of the intelligent inspection robot in the substation has become increasingly mature. In the existing technology, the technologies used for the positioning and navigation of the robot in the substation mainly include the following types: [0003] 1. Magnetic strip guidance plus RFID (radio frequency identification, radio frequency identification) tag positioning method, this method mainly relies on the magnetic sensor array installed on the front of the robot chassis to detect the deviation of the robot relative to the magnetic strip track, and keeps the robot along the magnetic strip through control. The track movement in the center of the bar, and the RFID tag is used as the inspection ...
Claims
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Application Information
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